/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * @file
 * Modified function input and used only some functions
 **/
#pragma once
#include <vector>
#include <osqp/osqp.h>
#include "qp_solver.h"
#include "spline_1d_solver.h"
#include "path_struct.h"

class OsqpSpline1dSolver : public Spline1dSolver
{
public: 
    OsqpSpline1dSolver(const std::vector<double> &x_knots, const uint32_t order);
    virtual ~OsqpSpline1dSolver();

    bool Solve() override;

    void CleanUp();

    void ResetOsqp();

private:
    OSQPSettings *settings_ = nullptr;
    OSQPWorkspace *work_ = nullptr; // Workspace
    OSQPData *data_ = nullptr;      // OSQPData
};